Simulation 3D Physics Backhoe
Libraries:
Offroad Autonomy Library /
Simulation 3D
Description
The Simulation 3D Physics Backhoe block provides an interface to implement a backhoe vehicle in the Simulink® 3D world.
Note
Simulating models with the Simulation 3D Physics Backhoe block requires Simulink 3D Animation™.
To use this block, ensure that the Simulation 3D Scene
Configuration block is in your model. If you set the Sample
time parameter of the Simulation 3D Physics Backhoe block to
-1
, the block inherits the sample time specified in the Simulation
3D Scene Configuration block.
These illustrations show the dimensions and locations of the backhoe asset parameters
relative to the coordinate axes, following the yaw(z)
,
pitch(y)
, roll(x)
sequence. The vehicle layout follows
Unreal Engine® co-ordinate system which follows the left-hand rule world coordinate system. For
more information, see Coordinate Systems for Unreal Engine Simulation in Robotics System Toolbox.
Ports
Note
This block processes all the input and output values using the right-hand rule world coordinate system. For more information, see Coordinate Systems for Unreal Engine Simulation in Robotics System Toolbox.
Input
Velocity — Move vehicle with velocity input
0
(default) | scalar in the range of [-7.5 ,7.5]
Velocity input to move the backhoe vehicle, specified as a scalar in the range of
[-7.5 , 7.5]
.A positive value moves the vehicle forward, whereas
a negative value reverses the direction. Specify the velocity in meters per second
(m/s).
To keep the input backhoe velocity steady, the system uses a P controller to internally estimate the required acceleration, taking feedback from the current backhoe velocity.
Data Types: double
Throttle — Normalized input to drive backhoe
0
(default) | scalar in the range of [-1 , 1]
Normalized input to drive the backhoe, specified as a scalar in the range of
[-1 , 1]
. A positive value moves the vehicle forward, whereas a
negative value reverses the direction.
The exact response is characterized by the vehicle powertrain. Maximum torque supported by the block is 200 Newton-meters (Nm) and maximum RPM is 6000.
Dependencies
To enable this port, select the Enable throttle (disable velocity) input signal parameter under Backhoe Inputs.
Data Types: double
SteeringAngle — Direction input to vehicle
0
(default) | scalar in the range of [-0.7854 , 0.7854]
Steering angle input to provide direction to the backhoe vehicle, specified as a
scalar in the range of [-0.7854 , 0.7854]
. Specify the steering
angle in radians.
As the z axis points vertically upwards,a positive input value executes counterclockwise motion.
Data Types: double
FootBrake — Normalized deceleration torque input
0
(default) | scalar in the range of [0 , 1]
Normalized deceleration torque input to reduce vehicle acceleration, specified as
a scalar in the range of [0 , 1]
. Maximum strength supported by the
block is 200 Newton-meters (Nm).
Dependencies
To enable this port, select the Enable foot brake input signal parameter under Backhoe Inputs.
Data Types: double
FrontBucketAngle — Raise or lower front bucket with angle input
0
(default) | scalar in the range of [-0.6109, 1.5533]
Front bucket angle input to raise front bucket up and lower it, specified as a
scalar in the range of [-0.6109, 1.5533]
. Specify the front bucket
angle in radians.
Dependencies
To enable this port, select the Enable loader frame and front bucket angle input signals parameter under Front Bucket Inputs.
Data Types: double
LoaderFrameAngle — Raise or lower loader frame with angle input
0
(default) | scalar in the range of [-1.3963, 0]
Front loader frame angle input to raise front loader frame up and lower it,
specified as a scalar in the range of [-1.3963, 0]
. Specify the
loader frame angle in radians.
Dependencies
To enable this port, select the Enable loader frame and front bucket angle input signals parameter under Front Bucket Inputs.
Data Types: double
RearBucketAngle — Raise or lower rear bucket with angle input
0
(default) | scalar in the range of [0, 1.5533]
Rear bucket angle input to raise rear bucket up and lower it, specified as a
scalar in the range of [0, 1.5533]
. Specify the rear bucket angle
in radians.
Dependencies
To enable this port, select the Enable swing frame, boom, arm, and rear bucket angle input signals parameter under Rear Bucket Inputs.
Data Types: double
ArmAngle — Raise or lower rear arm with angle input
0.0571
(default) | scalar in the range of [0.0571, 1.5533]
Rear arm angle input to raise rear bucket up and lower it, specified as a scalar
in the range of [0.0571, 1.5533]
. Specify the arm angle in
radians.
Dependencies
To enable this port, select the Enable swing frame, boom, arm, and rear bucket angle input signals parameter under Rear Bucket Inputs.
Data Types: double
BoomAngle — Raise or lower rear boom with angle input
0
(default) | scalar in the range of [-1.5533 , 0]
Rear boom angle input to raise rear boom up and lower it, specified as a scalar in
the range of [-1.5533 , 0]
. Specify the boom angle in
radians.
Dependencies
To enable this port, select the Enable swing frame, boom, arm, and rear bucket angle input signals parameter under Rear Bucket Inputs.
Data Types: double
SwingFrameAngle — Move rear swing left-right with angle input
0
(default) | scalar in the range of [-1.2217, 1.2217]
Rear swing angle input to move rear swing left and right, specified as a scalar in
the range of [-1.2217, 1.2217]
. Specify the swing frame angle in
radians.
Dependencies
To enable this port, select the Enable swing frame, boom, arm, and rear bucket angle input signals parameter under Rear Bucket Inputs.
Data Types: double
Output
BackhoeTranslation — Current ground truth world translation of backhoe
vector
Current ground truth world translation of backhoe, specified as a three-element row vector in the form [x, y , z]. x, y , and z are the translations along the x, y, and z axes, respectively. Units are in meters.
Dependencies
To enable this port, select the Enable ground truth world tranlsation output signal parameter under Backhoe Outputs.
Data Types: double
BackhoeRotation — Current ground truth world rotation of backhoe
vector
Current ground truth world rotation of backhoe, specified as a three-element row vector in the form [yaw, pitch, roll]. yaw, pitch, and roll are the rotations about the z, y, and x axes, respectively. Units are in radians.
Dependencies
To enable this port, select the Enable ground truth world rotation output signal parameter under Backhoe Outputs.
Data Types: double
BackhoeVelocity — Current velocity of backhoe
scalar
Current velocity of the backhoe, specified as a positive or negative scalar value. Unit are meters per second (m/s).
Dependencies
To enable this port, select the Enable velocity output signal parameter under Backhoe Outputs.
Data Types: double
BackhoeAngularVelocity — Current angular velocity of backhoe
[0 0 0]
(default) | three-element row vector
Current angular velocity of the backhoe, specified as a three-element row vector in the form [wx, wy, wz]. Unit are radians per second.
Dependencies
To enable this port, select the Enable angular velocity output signal parameter under Backhoe Outputs.
Data Types: double
FrontBucketTranslation — Current ground truth world translation of front bucket
vector
Current ground truth world translation of front bucket, specified as a three-element row vector in the form [x, y , z]. x, y , and z are the translations along the x, y, and z axes, respectively. Units are in meters.
Dependencies
To enable this port, select the Enable front bucket ground truth world translation output signal parameter under Backhoe Outputs.
Data Types: double
FrontBucketRotation — Current ground truth world rotation of front bucket
vector
Current ground truth world rotation of front bucket, specified as a three-element row vector in the form [yaw, pitch, roll]. yaw, pitch, and roll are the rotations about the z, y, and x axes, respectively. Units are in radian.
Dependencies
To enable this port, select the Enable front bucket ground truth world rotation output signal parameter under Backhoe Outputs.
Data Types: double
RearBucketTranslation — Current ground truth world translation of rear bucket
vector
Current ground truth world translation of rear bucket, specified as a three-element row vector, in the form [x, y , z]. x, y , and z are the translations along the x, y, and z axes respectively. Units are in meters.
Dependencies
To enable this port, select the Enable rear bucket ground truth world translation output signal parameter under Backhoe Outputs.
Data Types: double
RearBucketRotation — Current ground truth world rotation of rear bucket
vector
Current ground truth world rotation of rear bucket, specified as a three-element row vector in the form [yaw, pitch, roll]. yaw, pitch, and roll are the rotations about the z, y, and x axes, respectively. Units are in radian.
Dependencies
To enable this port, select the Enable rear bucket ground truth world rotation output signal parameter under Backhoe Outputs.
Data Types: double
CurrentFrontBucketAngle — Current front bucket joint angle
scalar
Current front bucket joint angle, specified as a positive or negative scalar value. Units are in radians.
Dependencies
To enable this port, select the Enable current loader frame and front bucket angle output signals parameter under Front Bucket Outputs.
Data Types: double
CurrentLoaderFrameAngle — Current loader frame joint angle
scalar
Current loader frame joint angle, specified as a negative scalar value. Units are in radians.
Dependencies
To enable this port, select the Enable current loader frame and front bucket angle output signals parameter under Front Bucket Outputs.
Data Types: double
CurrentRearBucketAngle — Current rear bucket joint angle
scalar
Current rear bucket joint angle, specified as a positive scalar value. Units are in radians.
Dependencies
To enable this port, select the Enable current swing frame, boom, arm, and rear bucket angle input signals parameter under Rear Bucket Outputs.
Data Types: double
CurrentArmAngle — Current rear arm joint angle
scalar
Current rear arm joint angle, specified as a positive scalar value. Units are in radians.
Dependencies
To enable this port, select the Enable current swing frame, boom, arm, and rear bucket angle input signals parameter under Rear Bucket Outputs.
Data Types: double
CurrentBoomAngle — Current rear boom joint angle
scalar
Current rear boom joint angle, specified as a negative scalar value. Units are in radians.
Dependencies
To enable this port, select the Enable current swing frame, boom, arm, and rear bucket angle input signals parameter under Rear Bucket Outputs.
Data Types: double
CurrentSwingFrameAngle — Current swing frame joint angle
scalar
Current swing frame joint angle, specified as a positive or negative scalar value. Units are in radians.
Dependencies
To enable this port, select the Enable current swing frame, boom, arm, and rear bucket angle input signals parameter under Rear Bucket Outputs.
Data Types: double
Parameters
To edit block parameters interactively, use the Property Inspector. From the Simulink Toolstrip, on the Simulation tab, in the Prepare gallery, select Property Inspector.
Chassis
Type — Backhoe chassis type
Wheeled Backhoe
(default)
Backhoe chassis type, specified as Wheeled
Backhoe
.
Color — Backhoe color
Yellow
(default) | Blue
| Orange
Backhoe body color, specified as one of these drop down options:
Blue
Yellow
Orange
Name — Backhoe identifier
string scalar
Backhoe identifier name, specified as a string scalar.
Initial Values
Backhoe InitializationInitial translation (m) — Initial translation of backhoe vehicle
[0 0 0]
(default) | vector
Initial translation of backhoe vehicle, specified as a three-element row vector, in the form [x, y , z]. x, y , and z are the translations along the x, y, and z axes respectively, which uses the right-hand rule world coordinate system. Units are in meters.
Initial rotation (rad) — Initial rotation of backhoe vehicle
[0 0 0]
(default) | vector
Initial rotation of backhoe vehicle, specified as a three-element row vector, in the form [yaw, pitch, roll]. yaw, pitch, and roll are the rotations about the z, y, and x axes respectively, which uses the right-hand rule world coordinate system. Units are in radians.
Inputs
Backhoe InputsEnable throttle (disable velocity) input signal — Specify throttle to move backhoe at input port
off
(default) | on
Select this parameter to disable the velocity input and specify throttle at the input port to move the backhoe vehicle.
Enable foot brake input signal — Specify foot brake at input port
off
(default) | on
Specify foot brake torque at the input port to de-accelerate the backhoe vehicle.
Enable loader frame and front bucket angle input signals — Specify loader frame and front bucket angle at input port
off
(default) | on
Select this parameter to specify the loader frame and front bucket angles at the input port.
Enable swing frame, boom, arm, and rear bucket angle input signals — Specify swing frame, boom, arm, and rear bucket angle at input port
off
(default) | on
Select this parameter to specify the swing frame, boom, arm, and rear bucket angle at the input port.
Outputs
Backhoe OutputsEnable ground truth world tranlsation output signal — Output ground truth world translation of backhoe
off
(default) | on
Select this parameter to output ground truth world translation of backhoe at the BackhoeTranslation output port.
Enable ground truth world rotation output signal — Output ground truth world rotation of backhoe
off
(default) | on
Select this parameter to output ground truth world rotation of backhoe at the BackhoeRotation output port.
Enable velocity output signal — Output current velocity of backhoe
off
(default) | on
Select this parameter to output current velocity of backhoe at the BackhoeVelocity output port.
Enable angular velocity output signal — Output current angular velocity of backhoe
off
(default) | on
Select this parameter to output current angular velocity of backhoe at the BackhoeAngularVelocity output port.
Enable front bucket ground truth world translation output signal — Output ground truth world translation of front bucket
off
(default) | on
Select this parameter to output ground truth world translation of front bucket at the FrontBucketTranslation output port.
Enable front bucket ground truth world rotation output signal — Output ground truth world rotation of front bucket
off
(default) | on
Select this parameter to output ground truth world rotation of front bucket at the FrontBucketRotation output port.
Enable current loader frame and front bucket angle output signals — Output current loader frame and front bucket joint angle
off
(default) | on
Select this parameter to output current loader frame and front bucket joint angle at the CurrentLoaderFrameAngle and CurrentFrontBucketAngle output ports respectively.
Enable rear bucket ground truth world translation output signal — Output ground truth world translation of rear bucket
off
(default) | on
Select this parameter to output ground truth world translation of rear bucket at the RearBucketTranslation output port.
Enable rear bucket ground truth world rotation output signal — Output ground truth world rotation of rear bucket
off
(default) | on
Select this parameter to output ground truth world rotation of rear bucket at the RearBucketRotation output port.
Enable current swing frame, boom, arm, and rear bucket angle output signals — Output current swing frame angle and current rear bucket, rear boom and rear arm joint angle
off
(default) | on
Set this parameter to output the current swing frame angle and the current rear bucket, rear boom, and rear arm joint angles at the CurrentSwingAngle, CurrentRearBucketAngle, CurrentBoomAngle, and CurrentArmAngle output ports, respectively.
Version History
Introduced in R2024b
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